EP3670103A1 - Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett - Google Patents
Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett Download PDFInfo
- Publication number
- EP3670103A1 EP3670103A1 EP18212835.5A EP18212835A EP3670103A1 EP 3670103 A1 EP3670103 A1 EP 3670103A1 EP 18212835 A EP18212835 A EP 18212835A EP 3670103 A1 EP3670103 A1 EP 3670103A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- lifting rod
- boom
- exoskeleton
- user
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000000694 effects Effects 0.000 claims abstract description 3
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 230000000903 blocking effect Effects 0.000 description 5
- 210000001624 hip Anatomy 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/37—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts
- A61F5/3715—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts for attaching the limbs to other parts of the body
- A61F5/3723—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts for attaching the limbs to other parts of the body for the arms
- A61F5/3753—Abduction support
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/013—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0137—Additional features of the articulation with two parallel pivots
- A61F2005/0139—Additional features of the articulation with two parallel pivots geared
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0144—Multibar
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0146—Additional features of the articulation combining rotational and sliding movements, e.g. simulating movements of a natural joint
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0146—Additional features of the articulation combining rotational and sliding movements, e.g. simulating movements of a natural joint
- A61F2005/0148—Floating pivotal axis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1614—Shoulder, e.g. for neck stretching
- A61H2201/1616—Holding means therefor
Definitions
- the present invention relates to an exoskeleton for supporting at least one arm of a user.
- first and second support struts are attached vertically.
- the first armrest is rotatably attached via a pivot bearing.
- the second arm strut is rotatably attached to the upper end of the second support strut via a further pivot bearing.
- the armrests can be fixed in different angular positions relative to the support strut so that the user's arms can be placed on the erected armrests. With the help of springs, the armrests can push the user's arms up, making it easier to lift a large load (i.e. with a heavy weight).
- This object is achieved by an exoskeleton for supporting at least one arm of a user.
- the exoskeleton contains a fuselage connection device for the releasable connection of the exoskeleton to a user's torso, at least one holder which can be connected to the fuselage connection device, a lifting rod which can be connected to the fuselage connection device by means of the at least one holder and which is reversible in a first and second Direction is movable relative to the bracket, a boom for supporting the arm of a user, which is releasably connectable to the arm of a user and a ratchet mechanism for connecting a first end of the lifting rod with a first end of the boom, thereby optionally a repeated, sector-wise rotary movement of the boom in a first direction of rotation and a blocking effect for the boom in a second direction of rotation is adjustable.
- an exoskeleton is made available which enables a position for the arms of a user which is adapted to the elevation of the human shoulder joint when the arm is raised.
- This ergonomically or anatomically correct storage option for a user's arms can provide better support for the user when holding heavy loads.
- a coupling rod with a first and second end which is rotatably connected to the first end on the boom and the second end via a compensating mechanism with the lifting rod.
- the movement of the boom relative to the lifting rod is guided and supported by the coupling rod. An unwanted lateral movement of the boom or a twisting or torsion of the boom with respect to the lifting rod and / or holder can thereby be prevented.
- the compensating mechanism can be designed in the form of an elongated hole at the second end of the coupling rod and a pivot bearing on the lifting rod, the pivot bearing being positioned in the elongated hole.
- the compensation mechanism can be implemented in a simple manner.
- the elongated hole at the end of the coupling rod allows the boom to be lowered (i.e. moved downwards) without exerting any force on other components.
- the compensation mechanism in the form of link control between the second end of the Coupling rod and the lifting rod is designed. This ensures reliable guidance of the second end of the coupling rod.
- the compensation mechanism can be designed in the form of a sector gear and a rack, the sector gear being rotatably connected to the lifting rod so that the teeth of the sector gear engage the teeth of the rack.
- the sector gear can also be referred to as a partial gear.
- the articulated connection between the boom and the lifting rod can be carried out by a spindle or an actuator in order to move the boom upwards.
- the angular position or the angle of the arm strut to the lifting rod can also be determined by means of a sensor system in order to correctly determine the elevation of the boom.
- the lifting rod and the toothed rack can be designed as a piston-cylinder unit.
- the attachment of the lifting rod and the toothed rack to the holder can be implemented in a space-saving manner.
- Figure 3 shows a front view of a human upper body OK of a user AW, on which an exoskeleton 10 is arranged to support or increase the work performance of the arms 20 of a user AW.
- the exoskeleton 10 essentially contains a fuselage connection device 30, a holder 9, a lifting rod 7, a boom 4 and a ratchet mechanism 1.
- the trunk connection device 30 serves for the releasable connection of the exoskeleton 10 to a trunk (ie the upper body OK) of a user AW (cf. Figure 3 ).
- the trunk connection device 30 can be configured in the form of a hard shell, a flexible chest belt or belt.
- the trunk connection device 30 contains a closure VS arranged in the middle of the chest of the user AW, with which the trunk connection device 30, which is designed as a chest belt, for example, can be opened and closed.
- the closure VS can be designed, for example, as a Velcro fastener or as a belt buckle or belt clasp.
- the trunk connection device 30 can also be designed in the form of a hip belt and consequently positioned on the hip or pelvis of the user AW.
- one or two belts can be fastened to fix the trunk connection device 30 to the shoulders 40 of the user AW or to prevent the trunk connection device 30 from slipping in the direction of arrow B.
- These straps can be guided from the front of the torso connecting device 30 designed as a chest belt or belt via the shoulders 40 of the user AW (i.e. similar to braces) to the rear of the torso connecting device 30.
- the holder 9 is essentially designed as a flat sheet metal with four circular recesses 11 and a first slide bearing 8a and second slide bearing 8b.
- the four recesses 11 can also be referred to as screw domes and serve for the lateral connection of the holder 9 to the fuselage connection device 30.
- four screws or rivets can be driven through the four recesses 11 of the holder 9 and for attachment to the fuselage connection device 30.
- the first and second slide bearings 8a, 8b of the holder 9 serve to receive and guide the lifting rod 7 on the holder 9.
- Each of the slide bearings 8a, 8b contains a circular opening.
- the first slide bearing 8a is positioned in the vicinity of a first end 9a of the holder 9 and the second slide bearing 8b is positioned near a second end 9b of the holder 9 such that the lifting rod 7 passes through the respective circular openings in the slide bearings 8a, 8b guided and thereby connected to the bracket 9 movable and reversible in the direction of arrows A and B.
- the holder 9 contains a support plate 12 at the second end 9b.
- the lifting rod 7 is rotatably mounted on the support plate 12 when the lifting rod 7 is positioned on the holder 9.
- the support plate 12 can also have a concave or curved shape directed towards the lifting rod 7.
- This configuration of the lifting rod 7 can also be referred to as a tube or sleeve.
- the first end 7a of the lifting rod 7 extends in the direction of arrow A over the first end 9a of the holder 9 Figure 2
- the lifting rod 7 designed as a tube contains a cavity HR which extends from the second end 7b to approximately the center 7c of the lifting rod 7.
- the cavity HR can also be referred to as a cavity, blind hole or recess.
- a support element 6 can be inserted into the cavity HR of the lifting rod 7.
- the support element 6 can be cylindrical and its shape can be adapted to the cavity HR of the lifting rod 7.
- the lifting rod 7 and the support element 6 are mutually reversible in the direction of arrows A and B.
- the support element 6 essentially serves to support the lifting rod 7 and to increase the stability when the lifting rod 7 is moved relative to the holder 9.
- the support element 6 can also be designed with teeth and thus as a rack.
- the lifting rod 7 is connected to the holder 9 in such a way that the lifting rod 7 extends through the openings of the first and second sliding bearings 8a, 8b.
- the lifting rod 7 is thereby reversible in a first arrow direction A and a second arrow direction B and movable relative to the holder 9.
- the lifting rod 7 can be moved in the arrow direction A and in the arrow direction B relative to the holder 9.
- the lifting rod 7 can be rotated relative to the holder 9 about the axis of rotation R in the direction of rotation C or D by means of the first and second slide bearings 8a, 8b.
- the boom 4 is essentially designed as a rod with a first end 4a and a second end 4b.
- the bar can also be called an arm, support, rod or lever.
- an armrest 5 is shown positioned on the arm 4.
- the armrest 5 serves to receive and hold an upper arm of a user AW.
- an arm strap with a closure is provided in order to temporarily fix the arm to the armrest 5.
- the arm strap and the buckle are in Figure 3 shown.
- the closure is designed, for example, as a Velcro fastener.
- the ratchet mechanism 1 is essentially designed as a rotary bearing with a locking effect in a predetermined direction of rotation. Furthermore, the ratchet mechanism 1 contains a release device 60 with which the blocking effect in the predetermined direction of rotation F is released again, so that the ratchet mechanism 1 can be freely rotated in the direction of rotation E and F.
- the release device 60 is indicated in FIG. 10 and will be described in detail below.
- the ratchet mechanism 1 can also be referred to as a ratchet, ratchet or fine tooth ratchet.
- the ratchet mechanism 1 serves to connect the first end 7a of the lifting rod 7 to a first end 4a of the boom 4, as a result of which a repeated, sector-wise rotational movement of the boom 4 about the axis of rotation S in a first direction of rotation E and a blocking effect for the boom 4 in one second direction of rotation F is adjustable.
- the arm 4 can be pulled freely in the direction of rotation E by the arm of the user AW, which is connected to the arm 4 by means of the arm belt, and blocked in the direction of rotation F with the aid of the locking action of the ratchet mechanism 1.
- the ratchet mechanism 1 enables the boom 4 to rotate freely in the direction of rotation E around the pivot point, a user AW can move his arm upward in the direction of the arrow A, for example to hold a machine tool at a certain height.
- the machine tool is not shown in the figures.
- the boom 4 With the help of the locking action of the ratchet mechanism 1 in the direction of rotation F, the boom 4 can be held at the height determined by the user AW, in order to offer a support possibility for the arm due to the boom blocked in the direction of rotation F. Holding the heavy machine tool can be significantly improved due to the possibility of the arm 4 being supported at the height determined by the user AW.
- the weight of the machine tool is hereby derived via the arms on the boom 4, the lifting rod 7, the holder 9 and finally on the fuselage connection device 30.
- the ratchet mechanism 1 is realized by a combination of two pawls which transmit a pivoting movement of a lever in one direction only, while a movement in the opposite direction is automatically blocked.
- the principle of action is similar to that of freewheeling (for example on a bicycle). So that the release device 60 the blocking effect of the Ratchet mechanism 1 in a certain direction of rotation (here direction of rotation F) again, it is possible that the release device 60 separates the two pawls from each other, so that they no longer have a blocking effect on one another.
- the ratchet mechanism 1 can also be realized by a push-through ratchet with a continuous square hole. Only a single (pawl) pawl is required, the effective direction of rotation being achieved by pushing a square stub on one side or the other of the ratchet.
- the exoskeleton 10 further contains a coupling rod 2, which is essentially designed as a rod with a first end 2a and a second end 2b (cf. Figure 4 to 9 ).
- the coupling rod 2 is rotatably connected to the boom 4 at the first end 2a and is in turn rotatably connected to the lifting rod 7 via a compensating mechanism 50 at the second end 2b.
- the coupling rod 2 essentially serves as a support and guide when the boom 4 moves relative to the lifting rod 7.
- the compensating mechanism 50 can be designed in the form of an elongated hole 51 at the second end of the coupling rod 2 and a rotary bearing on the lifting rod 7.
- the pivot bearing is positioned in the elongated hole 51 and can be moved along the elongated hole 51 or through the elongated hole 51.
- the compensating mechanism 50 can be designed in the form of an elongated hole 51 at the second end 2b of the coupling rod 2, a sector gear 3, a toothed rack 13 and a pivot bearing 14.
- the optional support element 6 is according to the in Figure 4 to 9 shown embodiment of the exoskeleton 10 in the form of the rack 13. According to an advantageous embodiment of the exoskeleton 10 according to the invention, it is also possible for both a support element 6 and a toothed rack 13 to be positioned next to one another on the support plate 12.
- the cylindrical rack 13 projects into the interior of the lifting rod 7 so that the longitudinal extension of the rack 13 and the longitudinal extension of the lifting rod 7 are aligned parallel to one another.
- the lifting rod 7 has a recess 7d through which access to the teeth of the rack 13 is given.
- the rack 13 is connected in the direction of rotation C or D by means of a (not shown) rotary bearing about the axis of rotation R to the second end 7b of the lifting rod 7 and in particular to the support plate 12 at the second end 7b of the lifting rod 7.
- the rack 13 is connected to the support plate 12 so that the rack 13 can not be moved in the direction of arrow A or B bracket. This does not result in a relative movement between the rack 13 and the holder 9.
- the rack 13 and the lifting rod 7 can move relative to each other in the direction of arrow A or B and that the rack 13 is inserted inside the lifting rod 7, the combination or the interaction of the rack 13 and the Lift rod 7 are referred to as a piston-cylinder unit.
- the rack 13 as a piston and the lifting rod 7, and in particular the cavity HR of the lifting rod 7, as a cylinder for receiving the piston designed as a rack are unset.
- the lifting rod 7 contains a holding device 15 with an axis 16, which serves to receive and hold the sector gear 3.
- the sector gear 3 can be rotated relative to the lifting rod 7 such that the teeth 3a of the sector gear 3 can engage in the teeth 13 of the rack 13.
- the sector gear 3 also contains a lever element 3b at the free end of which the pivot bearing 14 is positioned.
- the pivot bearing 14 is positioned in the elongated hole 51 and can move freely along the elongated hole 51 or is guided along the elongated hole 51.
- the boom 4 can be brought reversibly into a first, second or third position by its pivot bearing at the pivot point DP to the holder 9.
- Figure 6 and 7 show the boom 4 in the second position.
- the second end 4b of the boom 4 is essentially horizontal.
- the first end 4a of the boom 4 points upward in the direction of arrow A.
- the ratchet mechanism 1 When the user AW moves the arm, which is connected to the boom 4, upwards in the direction of arrow A, the ratchet mechanism 1 also pulls the lifting rod 7 upwards in the direction A. Because the lifting rod 7 is movably mounted to the holder 9 in the direction of arrow A or B, the pivot point DP can compensate the distance ⁇ y to compensate for the anatomical movement of the human shoulder 40 when an arm is raised.
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Biomedical Technology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Therapy (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Priority Applications (11)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18212835.5A EP3670103A1 (de) | 2018-12-17 | 2018-12-17 | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett |
JP2021532338A JP7280360B2 (ja) | 2018-12-17 | 2019-08-13 | 使用者の腕を支持して負荷を軽減するための装置 |
CN201980076349.4A CN113165164A (zh) | 2018-12-17 | 2019-08-13 | 用于支撑和减轻使用者手臂的装置 |
US17/414,830 US20220015979A1 (en) | 2018-12-17 | 2019-08-13 | Device for Supporting and Relieving the Arms of a User |
EP19749770.4A EP3898124A1 (de) | 2018-12-17 | 2019-08-13 | Vorrichtung zur unterstützung und entlastung der arme eines nutzers |
PCT/EP2019/071717 WO2020126125A1 (de) | 2018-12-17 | 2019-08-13 | Vorrichtung zur unterstützung und entlastung der arme eines nutzers |
US17/414,840 US20220062022A1 (en) | 2018-12-17 | 2019-11-27 | Device for Compensating a Shoulder Elevation in a Passive Exoskeleton |
PCT/EP2019/082690 WO2020126360A1 (de) | 2018-12-17 | 2019-11-27 | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett |
JP2021532353A JP7166462B2 (ja) | 2018-12-17 | 2019-11-27 | 受動型外骨格における肩部の上昇を補償するための装置 |
CN201980080338.3A CN113165167A (zh) | 2018-12-17 | 2019-11-27 | 用于被动外骨骼中的肩部高度补偿的装置 |
EP19806287.9A EP3898126A1 (de) | 2018-12-17 | 2019-11-27 | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18212835.5A EP3670103A1 (de) | 2018-12-17 | 2018-12-17 | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3670103A1 true EP3670103A1 (de) | 2020-06-24 |
Family
ID=64665753
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18212835.5A Withdrawn EP3670103A1 (de) | 2018-12-17 | 2018-12-17 | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett |
EP19806287.9A Pending EP3898126A1 (de) | 2018-12-17 | 2019-11-27 | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19806287.9A Pending EP3898126A1 (de) | 2018-12-17 | 2019-11-27 | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220062022A1 (zh) |
EP (2) | EP3670103A1 (zh) |
JP (1) | JP7166462B2 (zh) |
CN (1) | CN113165167A (zh) |
WO (1) | WO2020126360A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022054479A (ja) * | 2020-09-27 | 2022-04-07 | 太陽パーツ株式会社 | サポートウェア |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3670104A1 (de) * | 2018-12-17 | 2020-06-24 | Hilti Aktiengesellschaft | Passives exoskelett mit einem ratschenmechanismus mit nackenschaltung |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1257297A (en) * | 1917-07-30 | 1918-02-19 | Frederick B Brown | Arm and shoulder brace. |
JP2014172129A (ja) * | 2013-03-11 | 2014-09-22 | Japan Marine United Corp | 作業支援装置 |
US9205017B2 (en) | 2011-01-18 | 2015-12-08 | Levitate Technologies, Inc. | Adaptive arm support systems and methods for use |
US9737374B2 (en) | 2012-12-11 | 2017-08-22 | Levitate Technologies, Inc. | Adaptive arm support systems and methods for use |
JP2017185101A (ja) * | 2016-04-07 | 2017-10-12 | 株式会社イノフィス | 上体サポート装置 |
KR20180059034A (ko) * | 2016-11-25 | 2018-06-04 | 한국산업기술대학교산학협력단 | 상지 재활 훈련 로봇 장치 |
KR101896181B1 (ko) * | 2017-04-25 | 2018-09-07 | 서울대학교산학협력단 | 어깨 움직임 보조 기구 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1639815A (en) * | 1924-06-30 | 1927-08-23 | John R Siebrandt | Arm splint |
US2665684A (en) * | 1950-06-19 | 1954-01-12 | Torras Miguel Llongueras | Automatically working electromechanical apparatus for the reduction of vertebral luxations and subluxations |
US2661000A (en) * | 1951-06-25 | 1953-12-01 | William E Gazeley | Surgical splint |
US3596655A (en) * | 1968-11-20 | 1971-08-03 | Joseph D Corcoran | Traction cradle device |
JPS533471B2 (zh) * | 1973-03-22 | 1978-02-07 | ||
GB2225239A (en) * | 1988-09-12 | 1990-05-30 | Protectair Ltd | Orthopaedic brace |
US5385536A (en) * | 1993-03-01 | 1995-01-31 | Wayne Z. Burkhead | Orthopedic brace for arm and shoulder |
US5487724A (en) * | 1994-05-27 | 1996-01-30 | Orthomerica Products, Inc. | Orthopaedic shoulder brace having adjustable pelvic and arm supports |
AU2008338256B2 (en) | 2007-12-19 | 2015-01-15 | S.A.M. Bracing Pty Ltd | Shoulder brace |
JP2011092507A (ja) * | 2009-10-30 | 2011-05-12 | Satsuma Tsushin Kogyo Kk | 装着型筋力補助装置 |
JP5515116B2 (ja) * | 2010-06-03 | 2014-06-11 | 国立大学法人東京農工大学 | パワーアシストスーツ |
JP2015016075A (ja) | 2013-07-10 | 2015-01-29 | ソニー株式会社 | 移動支援装置 |
US10058994B2 (en) * | 2015-12-22 | 2018-08-28 | Ekso Bionics, Inc. | Exoskeleton and method of providing an assistive torque to an arm of a wearer |
JP6416353B1 (ja) * | 2017-09-28 | 2018-10-31 | Johnan株式会社 | 上肢保持装置 |
CN107932478B (zh) * | 2017-11-15 | 2019-10-08 | 北京林业大学 | 一种上肢采摘辅助外骨骼 |
EP3670104A1 (de) * | 2018-12-17 | 2020-06-24 | Hilti Aktiengesellschaft | Passives exoskelett mit einem ratschenmechanismus mit nackenschaltung |
-
2018
- 2018-12-17 EP EP18212835.5A patent/EP3670103A1/de not_active Withdrawn
-
2019
- 2019-11-27 US US17/414,840 patent/US20220062022A1/en active Pending
- 2019-11-27 WO PCT/EP2019/082690 patent/WO2020126360A1/de unknown
- 2019-11-27 CN CN201980080338.3A patent/CN113165167A/zh active Pending
- 2019-11-27 JP JP2021532353A patent/JP7166462B2/ja active Active
- 2019-11-27 EP EP19806287.9A patent/EP3898126A1/de active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1257297A (en) * | 1917-07-30 | 1918-02-19 | Frederick B Brown | Arm and shoulder brace. |
US9205017B2 (en) | 2011-01-18 | 2015-12-08 | Levitate Technologies, Inc. | Adaptive arm support systems and methods for use |
US9737374B2 (en) | 2012-12-11 | 2017-08-22 | Levitate Technologies, Inc. | Adaptive arm support systems and methods for use |
JP2014172129A (ja) * | 2013-03-11 | 2014-09-22 | Japan Marine United Corp | 作業支援装置 |
JP2017185101A (ja) * | 2016-04-07 | 2017-10-12 | 株式会社イノフィス | 上体サポート装置 |
KR20180059034A (ko) * | 2016-11-25 | 2018-06-04 | 한국산업기술대학교산학협력단 | 상지 재활 훈련 로봇 장치 |
KR101896181B1 (ko) * | 2017-04-25 | 2018-09-07 | 서울대학교산학협력단 | 어깨 움직임 보조 기구 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022054479A (ja) * | 2020-09-27 | 2022-04-07 | 太陽パーツ株式会社 | サポートウェア |
Also Published As
Publication number | Publication date |
---|---|
WO2020126360A1 (de) | 2020-06-25 |
CN113165167A (zh) | 2021-07-23 |
US20220062022A1 (en) | 2022-03-03 |
JP2022511563A (ja) | 2022-01-31 |
JP7166462B2 (ja) | 2022-11-07 |
EP3898126A1 (de) | 2021-10-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE19612979B4 (de) | Einstellbare Sitzaufnahmebaugruppe | |
DE3643612C2 (zh) | ||
WO2020126322A1 (de) | Nackenschaltung bei einem passiven exoskelett | |
DE1263220C2 (de) | Zahnarztstuhl | |
DE102004029509A1 (de) | Drückstation mit verschieden einstellbaren Weg-Merkmalen | |
EP3898126A1 (de) | Vorrichtung zum ausgleich einer schulterelevation bei einem passiven exoskelett | |
EP3263397B1 (de) | Federungsvorrichtung | |
EP0754829B1 (de) | Vorrichtung zum Anschliessen eines Schwenkteils, beispielsweise einer Fahrzeughaube an einen Körper, beispielsweise an einen Fahrzeugrahmen | |
EP3898127A1 (de) | Überkopf-exoskelett | |
DE112012007217T5 (de) | Türverriegelungsvorrichtung und Baumaschine mit derselben | |
EP3158907A1 (de) | Klapp- und schwenkbarer stützklappgriff, insbesondere für den sanitärbereich | |
EP0207916B1 (de) | Beschlag, insbesondere für Bürostühle | |
EP3463239B1 (de) | Mobilitätshilfe | |
DE102012109508B3 (de) | Sitz für eine Krankabine oder dergleichen | |
DE202022101460U1 (de) | Montageständer für Fahrräder | |
AT11940U1 (de) | Vorrichtung zum steuern von arbeitsgeräten | |
WO2020094806A1 (de) | Chirurgische schaedelhaltevorrichtung | |
EP3452000B1 (de) | Faltbare mobilitätshilfe | |
DE202018104218U1 (de) | Griffvorrichtung und Instrumentensystem | |
DE69403430T2 (de) | Diebstahlschutzvorrichtung zum Blockieren der Pedale eines Kraftfahrzeuges | |
EP3820652B1 (de) | Scharnier für lastentransportwagen | |
DE20313127U1 (de) | Kopfstütze für Fahrzeuge | |
EP0852123A1 (de) | Einrichtung zum Verstellen eines Rückenauflageteils und eines Oberschenkelauflageteils eines Einlegerahmens für ein Bett | |
DE102014207366B4 (de) | Fahrzeugsitz | |
EP4176859A1 (de) | Koppelungseinrichtung zur temporären verbindung zweier unterarmgehhilfen |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20210112 |